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Switch DependencyGraph to better data structures #99

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@Akshay-Srivatsan

For the sake of debuggability, DependencyGraph is (as of #98) using a bunch of off-the-shelf datastructures (both for storing true data and checking invariants). The true data structures can be replaced with versions more optimized to our usage patterns; the invariant-checking data structures can be made debug-mode only, so release-mode code doesn't have to pay the cost of checking them.

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    optimizationThis can be made more efficient

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